Place chicken on hot grill rack. Cover grill and cook chicken 20 to 25 minutes or until juices run clear when thickest part of chicken is pierced with tip of knife, turning pieces over once and removing pieces to platter as they are done.

In small bowl, mix hoisin sauce and soy sauce. Brush hoisin-sauce mixture all over chicken and return to grill. Cook 4 to 5 minutes longer or until glazed, turning once. Place chicken on same platter; sprinkle with sesame seeds.